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Advances in Mechatronics Part 8

Tham khảo tài liệu 'advances in mechatronics part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Part 2 Robotics and Vision 6 On the Design of Underactuated Finger Mechanisms for Robotic Hands Pierluigi Rea DiMSAT University of Cassino Italy 1. Introduction The mechatronic design of robotic hands is a very complex task which involves different aspects of mechanics actuation and control. In most of cases inspiration is taken by the human hand which is able to grasp and manipulate objects with different sizes and shapes but its functionality and versatility are very difficult to mimic. Human hand strength and dexterity involve a complex geometry of cantilevered joints ligaments and musculotendinous elements that must be analyzed as a coordinated entity. Furthermore actuation redundancy of muscles generates forces across joints and tissues perception ability and intricate mechanics complicate its dynamic and functional analyses. By considering these factors it is evident that the design of highly adaptable sensor-based robotic hands is still a quite challenge objective giving in a number of cases devices that are still confined to the research laboratory. There have been a number of robotic hand implementations that can be found in literature. A selection of leading hand designs reported here is limited in scope addressing mechanical architecture not control or sensing schemes. Moreover because this work is concentrated to finger synthesis and design the thumb description is excluded as well as two-fingered constructions because most of them were designed to work as grippers and would not integrate in the frame of multi-finger configuration. Significant tendon operated hands are the Stanford JPL hand and the Utah MIT hand. In particular the first one has three 3-DOF fingers each of them has a double-jointed head knuckle providing 90 of pitch and jaw and another distal knuckle with a range of 135 . The Utah MIT dextrous hand has three fingers with 4-DOFs each digit of this hand has a non anthropomorphic design of the head knuckle excluding circumduction. The .